Though the concept of undergarments is pretty old, they formally came into existence in the 18th century. Vests and camisoles were the undergarments used.
Pantalettes are one of the initial form of undergarments that originated in France in the 1820s and quickly spread to Britain and America. With time and various influences, the concept of undergarments widened and became detailed. Here’s a brief glossary of terminology related to undergarments to make life simpler for you!

Adjustable arters: Adjustable (lengthwise) elastic straps which attach to stockings to hold them up.

Baby Doll: A garment consisting of formed cups with an attached, loose fitting skirt that falls anywhere between the belly button and the hips.

Back Seams: Stockings with a seam running up the back of the leg.

Bandeau: A fancy name for a bra.

Bloomers: Feminine underwear consisting of loose fitting trousers or shorts.

Bodystocking: Snug fitting hosiery that offers coverage from the neck or upper body down to the ankles or toes.

Bodysuit: Snug fitting one piece garment.

Bolero Coat: A loose fitting, waist length coat/robe open at the front.

Boning Rigid: Supports sewn vertically into a bustier or corset that help to maintain a slim, shapely look about the torso. Originally made from bone (hence it's name), but now made of plastic.

Boxer Briefs: Snug fitting like briefs, but with a fuller cut and legs like boxers.

Boy Shorts: A panty style similar in shape to boy's underwear (but much more attractive!).

Briefs Short: Snug fitting underwear with a full back.

Bustier: A bra that extends beneath the breasts to the waist to provide additional support, control and sex appeal.

Camisole: A short top usually offering little support for the breasts.

Chemise: Short under dress or slip.

Clear Straps: Straps made from a clear, see-through plastic, that are designed to be nearly invisible when worn.

Corset: A snug fitting garment designed to cinch the waist.

Garter: An elastic leg band originally designed to hold up stockings.

Hot Pants: Very short pants.

Kick Pleat: An inverted pleat, often used at the bottom of a skirt to give it more breadth.

Lining: An extra layer of fabric sewn into the inside of a garment for added comfort, modesty and/or smoothness.

Long Line: A bustier that extends further down, usually to the hips.

Low Rise: Pants or panties which ride low on the hips instead of higher up at the waist.

Muscle Shirt: A shirt with no sleeves.

Pantyhose: Close fitting hosiery offering coverage from toes to waist.

Princess Line: Visible seams which resemble an hourglass shape for a figure flattering look.

Robe: A loose fitting cover up.

Seamless: An item manufactured without seams.

Slit: A narrow vertical split in the fabric usually added for ease of movement or sex appeal.

Stockings: Hosiery providing coverage from over the knee or mid-thigh to the toes.

Strapless: A garment without shoulder straps.

Tank Top: A sleeveless shirt.

Vest: A sleeveless, waist length coat usually meant to be worn under a shirt or blouse.